Camera vision systems

ABSTRACT

In various embodiments, cameras and mobile platforms are provided. In one exemplary embodiment, a mobile platform is provided that includes a body and a camera disposed on the body. The camera includes one or more image sensors, and one or more lens assemblies. The one or more lens assemblies are configured with respect to the one or more image sensors, that at least one image plane from the one or more image sensors is tilted to form a non-zero angle with at least one equivalent lens plane from the one or more lens assemblies, transferring the image focal plane to be parallel to the movement direction of the mobile platform in which the camera is installed. The use of multiple image sensors or lens assemblies in certain embodiments increases camera angle of view.

CROSS-REFERENCE TO RELATED APPLICATIONS

This is a division of, and claims priority to, U.S. application Ser. No.16/711,760, filed Dec. 12, 2019, the entirety of which is incorporatedby reference herein.

TECHNICAL FIELD

The technical field generally relates to the field of mobile platformsand vehicles and, more specifically, to vehicle (or mobile platform)camera vision systems.

BACKGROUND

Certain vehicles include one or more vehicle cameras that provideinformation for a driver of the vehicle or for one or more vehiclesystems, such as autonomous driving and active safety systems. Suchvehicle cameras may have a limited depth of field, such that objectsoutside the depth of field may appear somewhat blurry as compared withobjects inside the depth of field.

Accordingly, it is desirable to provide camera vision systems forvehicles, including with an improved depth of field. Furthermore, otherdesirable features and characteristics of the present invention willbecome apparent from the subsequent detailed description of theinvention and the appended claims, taken in conjunction with theaccompanying drawings and this background of the invention.

SUMMARY

In accordance with an exemplary embodiment, a camera is provided that isconfigured for installation in a mobile platform. The camera includesone or more image sensors; and one or more lens assemblies configuredwith respect to the one or more image sensors, that at least one imageplane from the one or more image sensors is tilted to form a non-zeroangle with at least one equivalent lens plane from the one or more lensassemblies, transferring an image sensor focal plane to be parallel tothe direction of movement for the mobile platform in which the camera isinstalled, providing a theoretically infinite depth of field for theimage sensor.

Also in one embodiment, the camera includes one or more focal planes;and at least one focal plane makes a non-zero angle with respect to theimage plane.

Also in one embodiment, the focal plane intersects both the image planeand a lens plane at a single point.

Also in one embodiment, the focal plane is aligned to be parallel to thehorizontal direction of movement of the mobile platform.

Also in one embodiment, the focal plane is parallel to an edge plane ofthe field of view.

Also in one embodiment, the focal plane extends horizontally atheoretically infinite distance from the vehicle in the horizontaldirection of movement of the vehicle.

Also in one embodiment, the one or more image sensors include a singleimage sensor; and the one or more lens assemblies include a single lensassembly.

Also in one embodiment, the one or more image sensors include: a firstimage sensor having a first image plane; and a second image sensorhaving a second image plane; the one or more lens assemblies including asingle lens assembly; the lens plane forms a non-zero angle with boththe first image plane and the second image plane, and the use ofmultiple image sensors, namely, the first and second image sensors,increases the camera angle of view as compared with using a single imagesensor.

Also in one embodiment, the camera further includes a mirror disposed toseparate the second image sensor and the first image sensor.

Also in one embodiment, the one or more image sensors include a singleimage sensor; the one or more lens assemblies includes: a first lensassembly having a first lens plane; and a second lens assembly having asecond lens plane; each of the first lens plane and the second lensplane forms a non-zero angle with the image plane; and the use ofmultiple lens assemblies, namely, the first and second lens assemblies,increases the camera angle of view as compared with using a single lensassembly.

Also in one embodiment, the camera further includes an image separatorextending from the image sensor between the first lens and the secondlens.

In another exemplary embodiment, a mobile platform is provided thatincludes a body and a camera disposed on the body. The camera includesone or more image sensors, and one or more lens assemblies. The one ormore lens assemblies are configured with respect to the one or moreimage sensors, that at least one image plane from the one or more imagesensors is tilted to form a non-zero angle with at least one equivalentlens plane from the one or more lens assemblies, resulting in a field ofview that is aligned parallel to a horizontal direction of movement ofthe mobile platform in which the camera is installed.

Also in one embodiment, the camera includes a focal plane; and the focalplane makes a non-zero angle with respect to the image plane.

Also in one embodiment, the focal plane intersects both the image planeand the lens plane at a single point.

Also in one embodiment, the focal plane is aligned to be parallel to thehorizontal direction of movement of the mobile platform.

Also in one embodiment, the focal plane is parallel to an edge plane ofthe field of view.

Also in one embodiment, the one or more image sensors include a singleimage sensor; and the one or more lens assemblies include a single lens.

Also in one embodiment, wherein the one or more image sensors include: afirst image sensor having a first image plane; and a second image sensorhaving a second image plane; the one or more lens assemblies include asingle lens assembly; the lens plane forms a non-zero angle with boththe first image plane and the second image plane; the camera furtherincludes a mirror disposed to separate the second image sensor and thefirst image sensor; and the use of multiple image sensors, namely, thefirst and second image sensors, increases the camera angle of view ascompared with using a single image sensor.

Also in one embodiment, the one or more image sensors include a singleimage sensor; the one or more lens assemblies includes: a first lensassembly having a first lens plane; and a second lens assembly having asecond lens plane; and each of the first lens plane and the second lensplane forms a non-zero angle with the image plane; the camera furtherincludes an image separator extending from the image sensor between thefirst lens and the second lens; and the use of multiple lens assemblies,namely, the first and second lens assemblies, increases the camera angleof view as compared with using a single lens assembly.

In another exemplary embodiment, a mobile platform is provided thatincludes a body and a camera. The camera is disposed on the body, andincludes one or more image sensors and one or more lens assemblies. Theone or more lens assemblies are configured with respect to the one ormore image sensors, that at least one image plane from the one or moreimage sensors is tilted to form a non-zero angle with at least oneequivalent lens plane from the one or more lens assemblies, resulting ina field of view that is aligned parallel to a horizontal direction ofmovement of the vehicle in which the camera is installed; wherein: thecamera includes a focal plane; the focal plane makes a non-zero anglewith respect to the image plane; the focal plane intersects both theimage plane and a lens plane at a single point; and the focal plane isaligned to be parallel to the horizontal direction of movement of thevehicle.

DESCRIPTION OF THE DRAWINGS

The present disclosure will hereinafter be described in conjunction withthe following drawing figures, wherein like numerals denote likeelements, and wherein:

FIG. 1 is a functional block diagram of a vehicle that includes one ormore cameras with a field of view that is parallel to a horizontal planefor movement of the vehicle, in accordance with an exemplary embodiment;

FIG. 2 is a schematic illustration of an exemplary lens assembly of oneof the cameras of FIG. 1, in accordance with an exemplary embodiment;

FIGS. 3-6 are schematic diagrams of different exemplary cameras of FIG.1, in accordance with various exemplary embodiments; and

FIGS. 7-18 are schematic diagrams of different exemplary vehicleapplications of the cameras of FIGS. 1-6 and the vehicle of FIG. 1, inaccordance with various exemplary embodiments.

DETAILED DESCRIPTION

The following detailed description is merely exemplary in nature and isnot intended to limit the disclosure or the application and usesthereof. Furthermore, there is no intention to be bound by any theorypresented in the preceding background or the following detaileddescription.

FIG. 1 illustrates a vehicle 100, according to an exemplary embodiment.As described in greater detail further below, the vehicle 100 includesone or more camera systems 102 mounted on the vehicle 100. As depictedin FIG. 1, in various embodiments, each camera system 102 includes oneor more respective sensors 104 and lenses (or lens assemblies) 105 (eachhaving a respective equivalent lens plane) (and, in certain embodiments,one or more mirrors 113) that are aligned in a particular manner toprovide a focal plane (plane of sharpest focus) 106 that is parallel tothe direction 108 of movement for the vehicle 100, as described furtherbelow in greater detail in connection with FIGS. 2-18. As usedthroughout this Application, it will be appreciated that a lens assemblyincludes, in certain embodiments, one or more optical lenses andfilters.

In certain embodiments, the vehicle 100 comprises an automobile. Invarious embodiments, the vehicle 100 may be any one of a number ofdifferent types of automobiles, such as, for example, a sedan, a wagon,a truck, or a sport utility vehicle (SUV), and may be two-wheel drive(2WD) (i.e., rear-wheel drive or front-wheel drive), four-wheel drive(4WD) or all-wheel drive (AWD), and/or various other types of vehiclesin certain embodiments. In certain embodiments, the vehicle 100 may alsocomprise a motorcycle, an airplane, a marine vehicle, and/or one or moreother types of vehicles. In addition, in various embodiments, it willalso be appreciated that the vehicle 100 may comprise any number ofother types of mobile platforms.

In the depicted embodiment, the vehicle 100 includes a body thatsubstantially encloses other components of the vehicle 100. Also in thedepicted embodiment, the vehicle 100 includes a plurality of axles 112and wheels 114. The wheels 114 are each rotationally coupled to one ormore of the axles 112 near a respective corner of the body 110 tofacilitate movement of the vehicle 100. In one embodiment, the vehicle100 includes four wheels 114, although this may vary in otherembodiments (for example for trucks and certain other vehicles).

A drive system 116 drives the wheels 114. The drive system 116preferably comprises a propulsion system. In certain exemplaryembodiments, the drive system 116 comprises an internal combustionengine and/or an electric motor/generator, coupled with or without atransmission thereof. In certain embodiments, the drive system 116 mayvary, and/or two or more drive systems 116 may be used. By way ofexample, the vehicle 100 may also incorporate any one of, or combinationof, a number of different types of propulsion systems, such as, forexample, a gasoline or diesel fueled combustion engine, a “flex fuelvehicle” (FFV) engine (i.e., using a mixture of gasoline and alcohol), agaseous compound (e.g., hydrogen and/or natural gas) fueled engine, acombustion/electric motor hybrid engine, and an electric motor.

As depicted in FIG. 1, in various embodiments the camera(s) 102 may bedisposed in various locations on or against the body 110 of the vehicle100. For example, in certain embodiments, cameras 102 are disposed on afront portion of the vehicle 100 (e.g., behind and/or against a frontwindshield of the vehicle 100), on the sides (e.g., driver side andpassenger side) of the vehicle 100, on a rear portion of the vehicle 100(e.g., on or proximate a trunk or rear hatch), on a roof of the vehicle,and/or inside cabin behind windshield, among other various possiblelocations.

Also in depicted in FIG. 1, in various embodiments, each of the cameras102 is coupled to a control system 120 of the vehicle 100. In variousembodiments, the control system 120 is also coupled to the drive system116 and various other systems 130 of the vehicle 100 (e.g., steering,braking, acceleration, and/or one or more other active safety,autonomous driving, providing a rear camera mirror for unobstructedvision, and/or other systems and/or associated functionality for thevehicle 100). In various embodiments, the control system includes acomputer processor 122 and a signal bearing computer memory 124. Inaddition, in various embodiments, the control system 120 of FIG. 1(including the processor 122 thereof) controls various vehiclefunctionality (e.g., e.g. lane keep assist, lane keep awareness,automatic braking, adaptive cruise control, forward collision alert,and/or various other safety and/or other features for the vehicle 100)using images obtained from the cameras 102 (e.g., automatic brakingbased on detected pedestrians, vehicles, and/or other objects, and/orvarious other functions based on the roadway, markings thereof, and/orobjects thereon as captured via the camera images).

With reference to FIG. 2, a schematic illustration is provided for anexemplary lens assembly 105 of one of the cameras 102 of FIG. 1, inaccordance with an exemplary embodiment. As depicted in FIG. 2, incertain embodiments, the lens assembly 105 includes a sensor protector202, a filter 204, a combination lens 206 (e.g., comprising aconvex-concave and biconvex lens cemented together), a convex meniscuslens 208, a biconcave lens 210, a biconvex lens 212, and a meniscus lens214. In various embodiments, the components of the lens assembly 105 mayvary (and may also comprise a single lens in certain embodiments).Unless otherwise noted, the terms lens 105 and lens assembly 105 as usedherein are referred to interchangeably, as representing a single lens105 and/or a lens assembly 105 including one or more of the existinglens and filter components.

FIGS. 3-6 are schematic diagrams of different exemplary cameras of FIG.1, in accordance with various exemplary embodiments.

First, with reference to FIG. 3, a schematic diagram is provided for anexemplary camera 102 of the vehicle 100 of FIG. 1, in accordance with anexemplary embodiment. As depicted in FIG. 3, in various embodiments, thesensor 104 and lens (or lens assembly) 105 of the camera are positionedwith respect to one another such that the depth of field 106 representsa horizontal depth of field that is parallel to the horizontal directionof 108 of movement of the vehicle 100 of FIG. 1. As shown in FIG. 3, incertain embodiments, the field of view 106 is bounded at least in partby a first plane 302 and a second plane 304. In certain embodiments, thefirst plane 302 corresponds to the plane of movement (or travel) of thevehicle 100 in the horizontal direction 108 of FIG. 1. Also in certainembodiments, the second plane 304 corresponds to a focal plane (i.e., aplane of sharp focus) for the camera 102.

Specifically, as shown in FIG. 3, the lens (or lens assembly) 105 isangled with respect to the sensor 104 such that the image plane 310 andthe lens plane 312 intersect with one another and the focal plane 304 atintersection point 320, and forming an angle α (314) with respectthereto. Accordingly, in contrast to a typical assembly, the focal plane304 is not parallel to the image plane 312 and the lens plane 312, butrather intersects with both at point 320. In various embodiments, theimage plane 310 from the sensor 104 is tilted to form the angle α (314)with at least one equivalent lens plane 312 from the lens assembly 105.In various embodiments, the angle α (314) is a non-zero angle that isbetween zero and ninety degrees.

Also as depicted in FIG. 3, in various embodiments, the focal plane 304,the parallel-to-image plane 340, and the front-local-plane 342 eachintersect at point 322 of FIG. 3. In addition, as depicted in FIG. 2,the parallel-to-image plane 340 is parallel to the image plane 310across the center of the lens 105. Moreover, also as depicted in FIG. 3,the front-local-plane 342 is parallel to the lens plane 312, and thedistance (f) 352 between the lens plane 312 and the front-local-plane342 is equal to the focal length of the lens 105.

Also as depicted in FIG. 3, in various embodiments, the focal plane 304is aligned to be parallel to the vehicle horizontal plane (e.g., thefirst plane 302 as depicted in FIG. 3). Also in various embodiments, asdepicted in FIG. 3, (i) a first height (H1) 316 represents a height ofthe sensor 104 from the focal plane 304; (ii) a second height (H2) 355represents a height of the lens 105 from the focal plane 304; (iii) afirst distance (D_(i)) 350 represents an image distance; (iv) a seconddistance (D_(o)) 360 represents an object distance; (v) a first angle(θ/2) 330 represents a first field of view angle; (vi) a second angle(θ/2) 332 represents a second field of view angle; (viii) a third angle(θ) 334 represents a combined field of view angle (combining both thefirst and second angles 330 and 332; and (ix) the field of view 106includes both a front depth of field 336 and a rear depth of field 338that determines the sharp image region for an infinite distance in thedirection of movement of the vehicle. In one embodiment, the focal plane304 is also parallel to the edge plane of the field of view 302.

Also in accordance with the embodiment of FIG. 3, the sensor 104 andlens 105 are positioned together with respect to the angle α (314) suchthat the resulting horizontal depth of field 106 is attained, and suchthat the camera sensor 104 and lens 105 optical layout design transfersthe object plane on which the camera 102 is focused to align with thevehicle horizontal plane to render sharp images with a theoreticallyinfinite distance in front of the camera 102, without diminishingaperture. In various embodiments, this is based on theinterrelationships of the parameters of FIG. 3 as set forth below,namely:sin(α)=D _(i) /H1  (Equation 1)(based on the Scheimpflug principle);sin(α)=f/H2  (Equation 2)(based on the Hinge rule);1/f=1/D _(i)+1/D _(o)  (Equation 3)(based on the Gaussian optic equation);H1/(Di+Do)=H2/Do  (Equation 4)(based on the focal plane being aligned with the main light illuminationdirection); andθ=2·tan⁻¹(S′/2·f  (Equation 5)(based on the camera angle of view equation).

Also in the embodiment of FIG. 3, the third angle (θ) 334 (also referredto as the vertical angle of view (AOV)) covers near the view point 380(e.g., distance “L” 370 of FIG. 3 being less than two meters, in certainembodiments) through determining image size according to the cameraangle of view equations (above). In addition, also in the embodiment ofFIG. 3, the focal plane 304 (or plane of sharp focus) is parallel to thefirst plane 302 (which also may be referred to as the top edge of thevertical AOV, obtained through determining image distance Di 350according to the equations above, in order to ensure the largestvertical angel of view (AOV).

With reference to FIG. 4, a schematic diagram is provided for anotherexemplary camera 102 of the vehicle 100 of FIG. 1, in accordance with anexemplary embodiment. In addition to render sharp images with atheoretically infinite distance in front of the camera 102 (as depictedin FIG. 3), the exemplary camera depicted in FIG. 4 provides asignificantly increased camera field of view to handle road topographychanges. As depicted in FIG. 4, in various embodiments, there are twocamera image sensors 104, namely a first sensor 104(1) and a secondsensor 104(2). As shown in FIG. 4, the two sensors 104(1) and 104(2) areplaced symmetrical to one another, with the first plane 402 being in thecenter. In the depicted embodiment, the first sensor 104(1) defines thecamera angle of view below the first plane 402, and the second sensor104(2) defines the camera angle of view above the first plane 402. Alsoin the depicted embodiment, the two sensors 104(1) and 104(2) areutilized with the same lens (or lens assembly) 105.

Also as shown in FIG. 4, in the depicted embodiment, the first imageplane 410(1) of the first sensor 104(1) and the lens plane 412 intersectwith one another and a first focal plane 404(1) at intersection point420(1), and form an angle α₁ 414(1) with respect thereto. Similarly, thesecond image plane 410(2) of the second sensor 104(2) and the lens plane412 intersect with one another and a second focal plane 404(2) atintersection point 420(2), and form an angle α₂ 414(2) with respectthereto. In various embodiments, angle α₁ 414(1) and α₂ 414(2) are anon-zero angle that is between zero and forty-five degrees.

Also as depicted in FIG. 4, in various embodiments, the first focalplane 404(1), the parallel-to-image plane 440(1), and thefront-local-plane 442(1) with respect to the first sensor 104(1) eachintersect at point 422(1) of FIG. 4. Similarly, also in variousembodiments, the second focal plane 404(2), the parallel-to-image plane440(2), and the front-local-plane 442(2) with respect to the secondsensor 104(2) each intersect at point 422(2) of FIG. 4.

Also as shown in FIG. 4, in the depicted embodiment, the first sensor104(1), in combination with the lens 105, generate first angles θ₁430(1) for a first depth of field 106(1) (and focal plane 404(1)) on alower half of the horizontal direction of movement of the vehicle 100,including a first front depth of field 436(1), and between the firstplane 402 and a first focal plane (plane of sharpest focus) 404(1).Similarly, also as shown in FIG. 4, also in the depicted embodiment, thesecond sensor 104(2), in combination with the lens 105, generate secondangles θ₂ 430(2) for a second depth of field 106(2) (and focal plane404(1)) on an upper half of the direction of movement of the vehicle100, including a second front depth of field 436(2), and between thefirst plane 402 and a second focal plane (plane of sharpest focus)404(2). In various embodiments, angles θ₁ 430(1) and θ₂ 430(2) arenon-zero angles that are each between zero and eighty degrees.

With reference to FIG. 5, a schematic diagram is provided for anotherexemplary camera 102 of the vehicle 100 of FIG. 1, in accordance with anexemplary embodiment. In addition to render sharp images with atheoretically infinite distance in front of the camera 102 (as depictedin FIG. 3), the exemplary camera depicted in FIG. 5 is another method toprovide a significantly increased camera field of view to handle roadtopography changes. As depicted in FIG. 5, in various embodiments, thereis a mirror 113 in addition to the lens 105 and two sensors 104 (namely,a first sensor 104(1) and a second sensor 104(2)), with the mirror 113disposed to separate the two image sensors 104(2) and 104(1). As shownin FIG. 5, the mirror 113 is added to have a forty-five-degree anglewith respect to the lens 105, reflecting the view from one of thesensors 104. Accordingly, the sensors 104(1) and 104(2) are apart fromone another, eliminating the gap between angles θ₁ 530(1) and θ₂ 530(2).

As shown in FIG. 5, the first image plane 510(1) of the first sensor104(1) and the lens plane 512 intersect with one another and a firstfocal plane 504(1) at intersection point 520(1), and form an angle α₁514(1) with respect thereto. Similarly, the second image plane 510(2) ofthe second sensor 104(2) and the lens plane 512 intersect with oneanother and a second focal plane 504(2) at intersection point 520(2),and form an angle α₂ 514(2) with respect thereto.

Also as depicted in FIG. 5, the first focal plane 504(1), theparallel-to-image plane 540(1) for the first sensor 104(1), and thefront-local-plane 542 each intersect at point 522(1) of FIG. 5.Similarly, also in various embodiments, the second focal plane 504(2),the parallel-to-image plane 540(2) for the second sensor 104(2), and thefront-local-plane 542 each intersect at point 522(2) of FIG. 5.

Also as shown in FIG. 5, in the depicted embodiment, the first sensor104(1), in combination with the lens 105, generate first angles θ₁530(1) for a first depth of field 106(1) (and focal plane 504(1)) on alower half of the horizontal direction of movement of the vehicle 100,including a first front depth of field 536(1), and between the firstplane 502 and a first focal plane (plane of sharpest focus) 504(1).Similarly, also as shown in FIG. 5, also in the depicted embodiment, thesecond sensor 104(2), in combination with the mirror 113 and the lens105, generate second angles θ₂ 530(2) for a second depth of field 106(2)(and focal plane 504(2)) on an upper half of the direction of movementof the vehicle 100, including a second front depth of field 536(2), andbetween the first plane 502 and a second focal plane (plane of sharpestfocus) 504(2). In various embodiments, angles θ₁ 530(1) and θ₂ 530(2)are non-zero angles that are each between zero and eighty degrees.

With reference to FIG. 6, a schematic diagram is provided for anotherexemplary camera 102 of the vehicle 100 of FIG. 1, in accordance with anexemplary embodiment. In addition to render sharp images with atheoretically infinite distance in front of the camera 102 (as depictedin FIG. 3), the exemplary camera depicted in FIG. 6 is another method toprovide a significantly increased camera field of view to handle roadtopography changes. As depicted in FIG. 6, in various embodiments, twolenses (or lens assembly) 105 are utilized, namely a first lens (or lensassembly) 105(1) and a second lens (or lens assembly) 105(2), inconjunction with a single camera image sensor 104. In certainembodiments, the second lens 105(2) comprises a wide angled lens (orlens assembly), which increases the camera vertical AOV. In addition, animage separator 601 is utilized in order to avoid crosstalk orinterference between the two lenses 105(1) and 105(2). In variousembodiments, the image separator 601 extends from the sensor between thefirst lens and the second lens.

As shown in FIG. 6, the image plane 610 intersects with a first lensplane 612(1) of the first lens 105(1) and a first focal plane 604(1) atintersection point 620(1), and form an angle α₁ 614 with respectthereto. Similarly, the image plane 610 intersects with a second lensplane 612(2) of the second lens 105(2) and a second focal plane 604(2)at intersection point 620(2), and form an angle α₂ 614 with respectthereto.

Also as depicted in FIG. 6, the first focal plane 604(1), theparallel-to-image plane 640, and a first front-local-plane 642(1) withrespect to the first lens 105(1) each intersect at point 522(1) of FIG.6. Similarly, also in various embodiments, the second focal plane604(2), the parallel-to-image plane 640, and a second front-local-plane642(2) with respect to the second lens 105(2) each intersect at point522(2) of FIG. 6.

Also as shown in FIG. 6, in the depicted embodiment, the sensor 104, incombination with the first lens 105 (1), generate first angles θ₁ 630(1)for a first depth of field 106(1) (and focal plane 604(1)) on a lowerhalf of the horizontal direction of movement of the vehicle 100,including a front depth of field 636 and a back depth of field 638, andabove a first focal plane (plane of sharpest focus) 604(1), following anear view point 680 as shown in FIG. 6. Similarly, also as shown in FIG.6, also in the depicted embodiment, the sensor 104, in combination withthe second lens 105 (2), generate second angles θ₂ 630(2) for a seconddepth of field 106(2) (and focal plane 604(2)) on an upper half of thehorizontal direction of movement of the vehicle 100, including below asecond focal plane (plane of sharpest focus) 604(2). In variousembodiments, angles θ₁ 630(1) and θ₂ 630(2) are non-zero angles that areeach between zero and eighty degrees.

FIGS. 7-18 are schematic diagrams of different exemplary vehicleapplications of the cameras of FIGS. 1-6 and the vehicle of FIG. 1, inaccordance with various exemplary embodiments.

First, with respect to FIG. 7, a first vehicle application is providedfor a surrounding vision system, in accordance with an exemplaryembodiment. In one embodiment, the vehicle application of FIG. 7 isutilized in connection with a parking assist functionality for thevehicle 100 of FIG. 1.

As shown in FIG. 7, in the depicted embodiment, cameras 102 are arrangedsurrounding the vehicle, including cameras mounted on front-side 102(1),driver-side 102(2), passenger-side 102(3), and rear-side 102(4). Theapplication of FIG. 7 is described in greater detail below in connectionwith an exemplary implementation in FIG. 8 below.

Specifically, with reference to FIG. 8, a configuration for a camera 102for the surrounding vision system of FIG. 7 is provided, in accordancewith an exemplary embodiment. In the embodiment of FIG. 8, the samesensor 104 and lens 105 assembly is provided as described above inconnection with FIG. 3, and including the same angle α 314. In one suchembodiment, a wide-angle lens (e.g., a fisheye lens) is utilized for thelens assembly 105.

In the embodiment of FIG. 8, the lens plane is angled to intersect withthe camera image sensor plane and face towards the road surface. Due tothis, and the geometry of the cameras 102 with respect to the roadsurface 870 on which the vehicle 100 is travelling, improved depth isprovided for short range imaging. In one depicted embodiment, the firstplane 802 represents a top edge of the field of view, and the secondplane 804 represents a bottom edge of the depth of field (back) 838,with vertical angle of view (AOV) 830 therebetween. As shown in FIG. 8,the sharpest focal plane 850 is between the first and second planes 802,804, and parallel to the first plane 802.

Also in the embodiment of FIG. 8, and in contrast to the configurationof FIG. 3, the focal plane (or sharpest focal plane) 850 is not parallelto the road surface 870 and is not parallel to the image sensor plane104 and lens plane (105), but rather is angled with respect to the roadsurface 870. In various embodiments, the angle made between the sharpestfocal plane 850 and the road surface 870 is in the range of zero toeighty degrees. Also in the depicted embodiment, the depth of fieldregion is adjusted to ensure a distance “L” 890 (in one embodiment, adistance of at least five to ten meters) on the road surface 870 iswithin an acceptably sharp focus. Also in the depicted embodiment, thisapplication results in a larger region of sharp focus near the roadsurface 870 while achieving a similar camera angle of view. With respectto FIGS. 7 and 8, in certain embodiments the focal plane is tilted tointersect with the image and lens planes, resulting in a larger regionof sharp focus near the road surface.

Next, with respect to FIG. 9, a second vehicle application is providedfor a forward vision camera system, in accordance with an exemplaryembodiment. In various embodiments, the vehicle application of FIG. 9 isutilized in connection with one or more camera-based active safetytechnologies (e.g., lane assist, adaptive cruise control, forwardcollision art, automatic emergency braking, and front pedestrianbraking) for the vehicle 100 of FIG. 1.

As shown in FIG. 9, in the depicted embodiment, one or more cameras 102are mounted near a front of the vehicle 100. In one embodiment, a camera102 is mounted behind a front windshield of the vehicle 100. Theapplication of FIG. 9 is described in greater detail below in connectionwith different exemplary implementations in FIGS. 10-12 below.

Specifically, with reference to FIG. 10, a first configuration for acamera 102 for the forward vision camera system of FIG. 9 is provided,in accordance with an exemplary embodiment. In the embodiment of FIG.10, the same sensor 104 and lens 105 assembly is provided as describedabove in connection with FIG. 3, and including the same angle α 314.

In the depicted embodiment, the entire camera 102 of the embodiment ofFIG. 3 (including the sensor 104 and lens 105 layout) is angled toimprove the capability to handle road topography changes. Specifically,in the depicted embodiment, the focal plane 1004 is parallel to thefirst plane 1002, and the first plane 1002 makes an angle β 1001 with aplane 1071 that is parallel to the road surface 1070. In certainembodiments, the maximum value for the angle β 1001 is twenty degrees,so that the camera 102 will not lose the capability to receive a farenough depth of field, even with a slope 1075 in the road surface 1070.In the depicted embodiment, the camera 102 still maintains atheoretically infinite depth. In addition, the road surface 1070 iscovered in the camera field of depth region by determining the camera102 f-stop. Also in various embodiments, the value for the verticalangle of view (AOV) θ 1030 is greater than thirty degrees; and the valueof the angle β 1001 is between five degrees and twenty degrees.

Next, with reference to FIG. 11, a second configuration for a camera 102for the forward vision camera system of FIG. 9 is provided, inaccordance with an exemplary embodiment. In the embodiment of FIG. 11,the same sensor 104 and lens 105 assembly is provided as described abovein connection with FIG. 4, including the use of two sensors 104(1) and104(2) with a single lens assembly 105, and including the same anglersα₁ 414(1) and α₂ 414(2). The use of two sensors creates two focal planes(1102 and 1104).

In the depicted embodiment of FIG. 11, the camera 102 is mounted suchthat the focal planes 1102 and 1104 are parallel to the road surface1170 and vehicle movement direction. The focal plane direction in FIG.11 provides for an infinite depth of view, while the use of two sensorswith one lens assembly provides a camera field of view that covers theentirety of the road surface 1170 in the direction of vehicle movement,including for changes in topography such as a slope 1175 of the roadway1170. In various embodiments, the combined vertical angle of view (AOV)θ 1130 of greater than forty degrees, with each of the first and secondcomponent angles of view θ₁ 1130(1) and θ₂ 1130(2) depicted in FIG. 11each being greater than twenty degrees. Also in the depicted embodiment,the configuration thereby accounts for topography changes (e.g.,including the slope 1175 in the road surface 1170), and still provides atheoretically infinite depth. In certain embodiments, the camera angleof view is greater than forty degrees. Similarly, in the embodiment ofFIG. 11, the two sensors 104(1) and 104(2) can be separated with areflection mirror as described above in connection with FIG. 5.

Next, with reference to FIG. 12, a third configuration for a camera 102for the forward vision camera system of FIG. 9 is provided, inaccordance with an exemplary embodiment. In the embodiment of FIG. 12,the same sensor 104 and lens 105 assembly is provided as described abovein connection with FIG. 6, including the use of the single sensor 104,two lens assemblies 105(1) and 105(2), and the image separator 601, andincluding the same angles α 614. The use of two lens assemblies createstwo focal planes (1202 and 1204).

In the depicted embodiment of FIG. 12, similar to the discussion abovein connection with FIG. 11, the camera 102 is mounted such that thefocal planes 1202 and 1204 are parallel to the road surface 1270, andprovide an theoretically infinite depth of view and a large camera fieldof view that covers the entirety of the road surface 1270 in the vehiclemovement direction, including for changes in topography such as a slope1275 of the roadway 1270. In various embodiments, the combined verticalangle of view (AOV) θ 1230 of greater than forty degrees, with each ofthe first and second component angles of view θ₁ 1230(1) and θ₂ 1230(2)depicted in FIG. 12 each being greater than twenty degrees. Also in thedepicted embodiment, the configuration thereby accounts for topographychanges (e.g., including the slope 1275 in the road surface 1270), andstill provides a theoretically infinite depth.

With respect to FIG. 13, a third vehicle application is provided forrear camera mirror's unobstructed vision for driver assistance, inaccordance with an exemplary embodiment. In one embodiment, the vehicleapplication of FIG. 13 is utilized in connection with a rear cameravision functionality for the vehicle 100 of FIG. 1.

As shown in FIG. 13, in the depicted embodiment, a camera 102 ispositioned on a rear side of the vehicle 100 (e.g., on or proximate arear hatch, trunk, or rear body panel of the vehicle 100). Also as shownin FIG. 13, a rear camera mirror 1301 is installed in the vehicle 100,for example on a rearview mirror of the vehicle 100. In variousembodiments, camera configurations as set forth in FIGS. 10-12 may beutilized for this application of FIG. 13. In various embodiments, thesensor(s) 104 and lens(es) 105 are configured such that the angle β 1001and/or the double angle of views θ₁ 11301(1) and θ₂ 1130(2) of FIG. 11and/or the angle β of views θ₁ 12301(1) and θ₂ 1230(2) of FIG. 12 areprovided to better improve the customer experience, regardless of anychanges in road topography, for providing a convenient view of thevehicle 100's rear surroundings, via the images captured on the rearcamera 102, via a display on the rear camera mirror 1301 of FIG. 13.

Next, with respect to FIG. 14, a fourth vehicle application is providedfor a forward vision camera system used for autonomous driving, inaccordance with an exemplary embodiment. As shown in FIG. 14, in thedepicted embodiment, a single camera 102 is utilized, near a front ofthe vehicle 100. In one embodiment, the camera 102 is mounted behind afront windshield of the vehicle 100. The application of FIG. 14 isdescribed in greater detail below in connection with different exemplaryimplementations in FIGS. 15-18 below.

Specifically, with reference to FIG. 15, a first configuration forcamera 102 for the camera system of FIG. 14 is provided, in accordancewith an exemplary embodiment. In the embodiment of FIG. 15, two cameras102 are utilized; namely, a first camera 102(1) and a second camera102(2).

As depicted in FIG. 15, the first camera 102(1) includes a single sensor104(1) and a single lens assembly 105. In this embodiment, the sensor104(1) and the lens assembly 105 of the first camera 102(1) areconfigured in a manner similar to FIG. 3, with the same angle α 314, andgenerating a horizontal field of view 106(1) similar to FIG. 3. Also asdepicted in FIG. 15, the second camera 102(2) comprises a conventionalcamera, in which the sensor 104(2) and lens 105(2) are parallel to oneanother, thereby generating a vertical field of view 106(2). In theembodiment of FIG. 15, the combined fields of view 106(1) and 106(2),together, achieve a long enough depth for camera to detect vehicles andpedestrians in a significant distance away (e.g., as far as two hundredmeters, in one embodiment), and also enable a large vertical angle ofview to handle road topography changes and to detect traffic lightphases. Also in the depicted embodiment, the combined vertical angle ofview (from components 1700(1) and 1700(2) that is greater than fortydegrees with a theoretically infinite depth.

Next, with reference to FIG. 16, a second configuration for camera 102for the camera system of FIG. 14 is provided, in accordance with anexemplary embodiment. In the embodiment of FIG. 16, two cameras 102 areutilized; namely, a first camera 102(1) and a second camera 102(2).

As depicted in FIG. 16, the first camera 102(1) includes a single sensor104(1) and a single lens 105. In this embodiment, the sensor 104(1) andthe lens assembly 105 of the first camera 102(1) are configured in amanner similar to FIG. 3, with the same angle α 314, and generating ahorizontal field of view 106(1) similar to FIG. 3. Also as depicted inFIG. 16, the sensor 104(1) and the lens assembly 105 of the secondcamera 102(1) are also configured in a manner similar to FIG. 3, withthe same angle α 314, and generating a horizontal depth of field 106(1)similar to FIG. 3 the second camera 102(2) also. In the embodiment ofFIG. 16, the combined fields of view 106(1) and 106(2), together, alsoachieve a long enough depth for the field of view to detect vehicles andpedestrians a significant distance away (e.g., as far as two hundredmeters, in one embodiment), and also enable a large vertical angle ofview to handle road topography changes and to detect traffic lightphases.

Next, with reference to FIG. 17, a third configuration for a camera 102for the camera system of FIG. 14 is provided, in accordance with anexemplary embodiment. In the embodiment of FIG. 17, a single camera 102is utilized.

As depicted in FIG. 17, the camera 102 includes two sensors 104(1) and104(2), and a single lens 105. In this embodiment, the sensors 104(1),104(2) and the lens 105 of the camera 102 are configured in a mannersimilar to FIG. 4, with the same angles α₁ 314(1) and α₂ 314(2), andgenerating horizontal depth of fields 106(1) and 106(2) similar to FIG.4. In the embodiment of FIG. 17, the combined fields of view 106(1) and106(2), together, provide a significantly increased field of view tohandle road density changes and to detect traffic light phases. In thedepicted embodiment, the combined vertical angle of view is greater thanforty degrees (from combining components θ₁ 1700(1) and θ₂ 1700(2), eachof which are greater than twenty degrees), for example in order tohandle roadway topography changes, and the camera 102 also provides atheoretically infinity depth. Also in various embodiments, the camera102 is tilted to form an angle between zero and twenty degrees betweenthe focal plane and the road surface to handle road topography changes.Similarly, in the embodiment of FIG. 17, the two sensors 104(1) and104(2) can be separated with a reflection mirror as described above inconnection with FIG. 5.

Finally, with reference to FIG. 18, a fourth configuration for a camera102 for the camera system of FIG. 14 is provided, in accordance with anexemplary embodiment. In the embodiment of FIG. 18, a single camera 102is utilized.

As depicted in FIG. 18, the camera 102 includes a single sensor 104 andtwo lenses 105(1) and 105(2), along with an image separator 106. Invarious embodiments, the image separator 106 extends from the sensorbetween the first lens and the second lens. In this embodiment, thesensor 104, the lenses 105(1) and 105(2), and the image separator 106 ofthe camera 102 are configured in a manner similar to FIG. 6, with thesame angles α 614, and generating horizontal depth of fields 106(1) and106(2) similar to FIG. 6. In the embodiment of FIG. 18, the combinedfields of view 106(1) and 106(2), together, provide a significantlyincreased field of view to handle road density changes and to detecttraffic light phases. In the depicted embodiment, the combined verticalangle of view is greater than forty degrees (from combining componentsθ₁ 1800(1) and θ₂ 1800(2), each of which are greater than twentydegrees), for example in order to handle roadway topography changes, andthe camera 102 also provides a theoretically infinity depth. Also invarious embodiments, the camera 102 is tilted to form an angle betweenzero and twenty degrees between the focal plane and the road surface tohandle road topography changes.

Accordingly, the disclosed methods, systems, and vehicles provide for animproved field of view and depth of field for cameras of vehicles. Invarious embodiment, the depth of field (and focal plane) is alignedparallel to a horizontal movement direction of the vehicle, therebyproviding a greater depth of field of sharp clarity for the cameraimages as the vehicle travels along the roadway. In various embodiment,two image sensors, two lens assemblies, or two cameras are provided tosignificantly increase field of view to handle road to road topographychanges. Also in various embodiments, a number of exemplary embodimentsare provided to accomplish these features, including with varyingnumbers and positioning of sensors, lenses, lens assemblies, mirrors,and/or image separators for the cameras. In addition, in variousembodiments, a number of different vehicle applications andimplementations are also provided, utilizing the different embodimentsfor single cameras as well as for multiple cameras of different typesfor the vehicle.

It will be appreciated that the systems, vehicles, applications, andimplementations may vary from those depicted in the Figures anddescribed herein. For example, in various embodiments, the vehicle 100,camera(s) 102, control system 120, and/or other systems 130 of FIG. 1may vary. In addition, also in various embodiments, the variousembodiments, vehicle applications, and configurations of FIGS. 2-18 mayalso vary in different embodiments, among other possible variations.

While at least one exemplary embodiment has been presented in theforegoing detailed description, it should be appreciated that a vastnumber of variations exist. It should also be appreciated that theexemplary embodiment or exemplary embodiments are only examples, and arenot intended to limit the scope, applicability, or configuration of thedisclosure in any way. Rather, the foregoing detailed description willprovide those skilled in the art with a convenient road map forimplementing the exemplary embodiment or exemplary embodiments. Itshould be understood that various changes can be made in the functionand arrangement of elements without departing from the scope of thedisclosure as set forth in the appended claims and the legal equivalentsthereof.

What is claimed is:
 1. A vehicle comprising: a body; and a camera systemconfigured to provide functionality for the vehicle with respect to aparticular vehicle application in combination with one or more othersystems of the vehicle, the camera system comprising one or more camerasdisposed on the body, each of the one or more cameras comprising: one ormore sensors; and one or more lens assemblies configured with respect tothe one or more sensors, such that at least one image plane from the oneor more sensors is tilted to form a non-zero angle with at least oneequivalent lens plane from the one or more lens assemblies, resulting ina focal plane that is aligned to intersect with the image plane toincrease image depth or to achieve a theoretically infinite depth offield; wherein: the camera system comprises a forward vision camerasystem for camera-based active safety technologies and/or autonomousdriving; the one or more cameras include at least one camera configuredto obtain images of a front side of the vehicle; the one or more sensorscomprise a single sensor; the one or more lens assemblies comprise afirst lens assembly and a second lens assembly; an angle of view of thecamera is greater than forty degrees; the first lens assembly has afirst equivalent lens plane; the second lens assembly has a secondequivalent lens plane; each of the first lens plane and the second lensplane forms a non-zero angle with the image plane; and the camera systemfurther comprises an image separator disposed on the body and extendingfrom the sensor between the first lens assembly and the second lensassembly.
 2. The vehicle of claim 1, wherein: the camera system providessurrounding vision functionality for the vehicle; the one or morecameras include: a first camera disposed on the front side of thevehicle; a second camera disposed on a driver side of the vehicle; athird camera disposed on a passenger side of the vehicle; and a fourthcamera disposed on a rear side of the vehicle; and wherein each of thesecameras provides a focal plane that is not parallel to the image andlens planes, resulting in a larger region of sharp focus near the roadsurface.
 3. The vehicle of claim 2, wherein, for each of the first,second, third, and fourth cameras: the camera includes a focal plane;and the focal plane makes a non-zero angle with respect to the imageplane.
 4. The vehicle of claim 3, wherein, for each of the first,second, third, and fourth cameras: the focal plane intersects both theimage plane and an equivalent lens plane of one or more of the lensassemblies at a single point; and the depth of field region is adjustedto ensure that at least a predetermined sharpness of focus is maintainedfor at least a predetermined distance on the road surface.
 5. Thevehicle of claim 1, wherein: the at least one camera includes one ormore focal planes; and at least one focal plane makes a non-zero anglewith respect to the image plane.
 6. The vehicle of claim 5, wherein: thefocal plane intersects both the image plane and a lens plane at a singlepoint; the focal plane is parallel to an edge plane of the field ofview; the focal plane is aligned to be parallel to the horizontaldirection of movement of the vehicle; and the focal plane extendshorizontally a theoretically infinite distance from the vehicle in thehorizontal direction of movement of the vehicle.
 7. The vehicle of claim1, wherein: the camera system comprises a rear camera mirror'sunobstructed vision for driver assistance; the one or more camerasinclude at least one rear camera disposed on a rear side of the vehicle;and the camera system further comprises a camera screen/mirror installedin the vehicle that is configured to display images from the at leastone rear camera.
 8. The vehicle of claim 7, wherein: the at least onerear camera includes a focal plane; the focal plane intersects both theimage plane and a lens plane at a single point; the focal plane isparallel to an edge plane of the field of view; the focal plane isaligned to be parallel to the horizontal direction of movement of thevehicle; one the focal plane makes a non-zero angle with respect to theimage plane; the focal plane extends horizontally a theoreticallyinfinite distance from the vehicle in the horizontal direction ofmovement of the vehicle; and the camera is tilted to form an anglebetween zero and twenty degrees between the focal plane and the roadsurface to handle road topography changes.
 9. The vehicle of claim 1,wherein: the use of multiple lens assemblies increase the angle of viewof the camera to be greater than forty degrees to handle road topographychanges.
 10. A vehicle comprising: a body; and a camera systemconfigured to provide functionality for the vehicle with respect to aparticular vehicle application in combination with one or more othersystems of the vehicle, the camera system comprising one or more camerasdisposed on the body, each of the one or more cameras comprising: one ormore sensors; and one or more lens assemblies configured with respect tothe one or more sensors, that at least one image plane from the one ormore sensors is tilted to form a non-zero angle with at least oneequivalent lens plane from the one or more lens assemblies, resulting ina focal plane that is aligned to intersect with the image plane toincrease image depth or to achieve a theoretically infinite depth offield; wherein: the camera system comprises a rear camera mirror'sunobstructed vision for driver assistance; the one or more camerasinclude a single camera disposed on a rear side of the vehicle; and thecamera system further comprises a camera screen/mirror installed in thevehicle that is configured to display images from the single camera; theone or more sensors comprise a single sensor; the one or more lensassemblies comprise a first lens assembly and a second lens assembly;the use of multiple lens assemblies increase the angle of view of thecamera to be greater than forty degrees to handle road topographychanges; the first lens assembly has a first equivalent lens plane; thesecond lens assembly has a second equivalent lens plane; each of thefirst lens plane and the second lens plane forms a non-zero angle withthe image plane; and the camera system further comprises an imageseparator disposed on the body and extending from the sensor between thefirst lens assembly and the second lens assembly.
 11. A vehiclecomprising: a body; and a camera system configured to providefunctionality for the vehicle with respect to a particular vehicleapplication in combination with one or more other systems of thevehicle, the camera system comprising one or more cameras disposed onthe body, each of the one or more cameras comprising: one or moresensors; and one or more lens assemblies configured with respect to theone or more sensors, that at least one image plane from the one or moresensors is tilted to form a non-zero angle with at least one equivalentlens plane from the one or more lens assemblies, resulting in a focalplane that is aligned to intersect with the image plane to increaseimage depth or to achieve a theoretically infinite depth of field;wherein: the one or more lens assemblies comprise a first lens assemblyand a second lens assembly; the first lens assembly has a firstequivalent lens plane; the second lens assembly has a second equivalentlens plane; each of the first lens plane and the second lens plane formsa non-zero angle with the image plane; and the camera system furthercomprises an image separator disposed on the body and extending from theone or more sensors between the first lens assembly and the second lensassembly.